{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Turorial 00: Drivability Checker - Getting Started\n",
    "\n",
    "提供下面三个功能：\n",
    "- collision checking: 碰撞检测\n",
    "- road-compliance: 不能离开道路边界\n",
    "- kinematic feasibility: 确保满足车辆模型边界\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "/home/string/Programs/ad_benchmark_learn/commonroad/..\n"
     ]
    },
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 2500x1000 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "from commonroad.common.file_reader import CommonRoadFileReader\n",
    "from commonroad.visualization.mp_renderer import MPRenderer\n",
    "from commonroad.visualization.draw_params import MPDrawParams\n",
    "import os\n",
    "import sys\n",
    "\n",
    "ROOT_PATH = os.path.join(os.getcwd(), '..')\n",
    "\n",
    "print(ROOT_PATH)\n",
    "\n",
    "scenario, planning_problem_set = CommonRoadFileReader(os.path.join(ROOT_PATH, 'scenario/commonroad/DEU_Ffb-1_7_I-1-1/DEU_Ffb-1_7_I-1-1.cr.xml')).open()\n",
    "planning_problem = list(planning_problem_set.planning_problem_dict.values())[0]\n",
    "\n",
    "# plot the scenario\n",
    "rnd = MPRenderer(figsize=(25, 10))\n",
    "scenario.draw(rnd, MPDrawParams(time_begin=0))\n",
    "planning_problem.draw(rnd)\n",
    "artists = rnd.render()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": [
    "# 创建 ego vehicle 的轨迹\n",
    "import numpy as np\n",
    "from commonroad.geometry.shape import Rectangle\n",
    "from commonroad.scenario.trajectory import Trajectory, State\n",
    "from commonroad.prediction.prediction import TrajectoryPrediction\n",
    "from commonroad.scenario.obstacle import DynamicObstacle, ObstacleType\n",
    "\n",
    "# 加载与计算的轨迹并且得到位置和速度\n"
   ]
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": ".venv",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.10.12"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 2
}
